public class SimpleCoordinateCoupler extends ConstrainerBase
ModelComponent.NavpanelVisibility
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames
TRANSPARENT, TWO_DIMENSIONAL
Constructor and Description |
---|
SimpleCoordinateCoupler() |
SimpleCoordinateCoupler(OpenSimCustomJoint joint0,
int coordNum0,
OpenSimCustomJoint joint1,
int coordNum1) |
Modifier and Type | Method and Description |
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int |
addBilateralConstraints(SparseBlockMatrix GT,
VectorNd dg,
int numb)
Appends the current bilateral force constraint matrix
Gc^T to the
matrix GT , by appending block columns to it. |
RenderProps |
createRenderProps()
Factory method to create render properties appropriate to this object.
|
int |
getBilateralForces(VectorNd lam,
int idx)
Returns the bilateral forces that were most recently set for this
constrainer using
Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int) . |
int |
getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
int idx)
Returns constraint information for each row of the bilateral
constraint system
|
void |
getBilateralSizes(VectorNi sizes)
Returns the sizes of each block column in the bilateral force constraint
matrix.
|
void |
getConstrainedComponents(java.util.List<DynamicComponent> list)
Collected all the dynamic components constrained by this constrainer.
|
void |
prerender(RenderList list)
Called prior to rendering to allow this object to update the internal
state required for rendering (such as by caching rendering coordinates).
|
void |
render(Renderer renderer,
int flags)
Render this object using the functionality of the supplied
Renderer . |
int |
setBilateralForces(VectorNd lam,
double s,
int idx)
Sets the bilateral forces that were computed to enforce this
constraint.
|
void |
updateBounds(Vector3d pmin,
Vector3d pmax)
Update the minimum and maximum points for this object.
|
double |
updateConstraints(double t,
int flags)
Updates the current set of constraints, and returns the maximum
penetration
> 0 associated with all of them. |
void |
zeroForces()
Zeros all bilateral and unilateral constraint forces in this constraint.
|
addFrictionConstraints, addUnilateralConstraints, getFrictionForces, getFrictionState, getState, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, hasState, maxFrictionConstraintSets, setFrictionForces, setFrictionState, setState, setUnilateralForces, setUnilateralState
copy, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, setRenderProps, setVisible, updateRenderProps
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getAllPropertyInfo, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarState
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences
getAllPropertyInfo, getProperty
getChildren, hasChildren
postscan
isWritable, write
public SimpleCoordinateCoupler()
public SimpleCoordinateCoupler(OpenSimCustomJoint joint0, int coordNum0, OpenSimCustomJoint joint1, int coordNum1)
public void getBilateralSizes(VectorNi sizes)
Constrainer
sizes
.getBilateralSizes
in interface Constrainer
getBilateralSizes
in class ConstrainerBase
sizes
- vector to which the block column sizes are appendedpublic int addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)
Constrainer
Gc^T
to the
matrix GT
, by appending block columns to it. If the argument
dg
is non-null
, it should be used to return the
velocity constraint time derivative, defined by
\dot Gc velstarting at the location
numb
. In all cases, the method must
return an updated value of numb
, incremented by the total row
size of Gc
.addBilateralConstraints
in interface Constrainer
addBilateralConstraints
in class ConstrainerBase
GT
- matrix to which the bilateral force contraint matrix
is appended.dg
- if non-null
, returns the velocity constraint time
derivativenumb
- starting index for time derivative in dg
numb
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
Constrainer
Gc vel = 0.This information is placed in pre-allocated
MechSystem.ConstraintInfo
structures in ginfo
, starting at idx
. The method must
return an updated value of idx
, incremented by the number of
rows of Gc
.
The constraint information to be set in ConstraintInfo
includes:
dist // distance to the constraint surface. compliance // if > 0, gives constraint compliance value damping // damping; only used if compliance > 0 force // used for computing non-linear compliance
getBilateralInfo
in interface Constrainer
getBilateralInfo
in class ConstrainerBase
ginfo
- returns the constraint informationidx
- starting location in ginfo
for returning constraint
infoidx
public int setBilateralForces(VectorNd lam, double s, int idx)
Constrainer
lam
, starting at the index idx
, and should be
scaled by s
. (In practice, s
is used to convert from
impulses to forces.) The method must return an updated value of idx
, incremented by the number of forces associated with this constraint.setBilateralForces
in interface Constrainer
setBilateralForces
in class ConstrainerBase
lam
- supplies the force impulses, which should be scaled by s
s
- scaling factor for the force valuesidx
- starting index of forces in lam
idx
public int getBilateralForces(VectorNd lam, int idx)
Constrainer
Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int)
. The forces are returned in
lam
, starting at the index idx
. The method must return
an updated value of idx
, incremented by the number of forces
associated with this constraint.getBilateralForces
in interface Constrainer
getBilateralForces
in class ConstrainerBase
lam
- returns the forcesidx
- starting index for forces in lam
idx
public void zeroForces()
Constrainer
zeroForces
in interface Constrainer
zeroForces
in class ConstrainerBase
public double updateConstraints(double t, int flags)
Constrainer
>
0 associated with all of them. If no constraints are
presently active, returns -1.updateConstraints
in interface Constrainer
updateConstraints
in class ConstrainerBase
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
Constrainer
getConstrainedComponents
in interface Constrainer
getConstrainedComponents
in class ConstrainerBase
list
- list to which constrained components should be appendedpublic void updateBounds(Vector3d pmin, Vector3d pmax)
IsRenderable
updateBounds
in interface IsRenderable
updateBounds
in class RenderableComponentBase
pmin
- minimum pointpmax
- maximum pointpublic RenderProps createRenderProps()
HasRenderProps
createRenderProps
in interface HasRenderProps
createRenderProps
in class RenderableComponentBase
public void prerender(RenderList list)
IsRenderable
list.addIfVisible (obj);
for each of the objects in question.prerender
in interface IsRenderable
prerender
in class RenderableComponentBase
list
- list of objects to be renderedpublic void render(Renderer renderer, int flags)
IsRenderable
Renderer
.render
in interface IsRenderable
render
in class RenderableComponentBase
renderer
- provides the functionality used to perform the rendering.flags
- flags that may be used to control different
aspects of the rendering. Flags are defined in Renderer
and currently include
Renderer.HIGHLIGHT
and
Renderer.SORT_FACES
.